A system and method for color image acquisition

ABSTRACT

An imaging system color image acquisition including: an image sensor; a tunable spectral filter arranged in an optical path of light propagation towards the image sensor; and a controller connected to the image sensor and to the tunable spectral filter. The controller is configured and operable for generating a colored image by sequentially operating the tunable spectral filter for sequentially filtering light passing towards the image sensor with three or more different spectral filtering curves during three or more corresponding integration time durations. The tunable spectral filter is configured, as an etalon and includes a pair of reflective surfaces. At least one of the reflective surfaces includes a layer of high refractive index of at least n=2.3 or even higher than 3, or a layer of low refractive index, smaller than n=1. The configuration of the etalon provide wide transmission peaks of the spectral curves with full-width-half maximum (FWHM) in the range of about 50 to 80 nm, free spectral range (FSR) of at least 300 nm, and thickness of the etalon in the order to 1 mm or even less.

TECHNOLOGICAL FIELD

The invention relates to color image acquisition and more specificallyprovides a system and method for spectral filtration of light forcreating colored images.

BACKGROUND

There are several known techniques of producing a color image by adigital camera. Conventionally, color imaging is based on detectingthree spectral ranges by filters respectively centered in the red (R),green (G) and blue (B) spectral zones.

One approach for acquisition of colored images, which became theindustry standard, utilizes an arrangement of set of fixed color filters(i.e. color filter array (CFA)) which are placed in front of amonochrome sensor such that each pixel of the sensor measures theintensity of only one spectral component of the incident light, out ofthe three RGB components which are needed for producing a color image.For example, a Bayer's array is a specific CFA of this type, which iscommonly used for acquisition of RGB images (see FIG. 1A). In order toproduce a color image (in which each pixel contains information aboutall the three RGB components, the remaining two color components, whichare not measured by the pixel, are calculated based on the values ofthese components measured by adjacent pixels. This process, known as“de-mosaicing”, may be performed by various well-known algorithms.

An alternative technique for acquisition of color images utilizes threemonochromatic sensors and a spectral beam splitter component that splitsthe incident light, by its color, and directs three RGB components ofthe incident light to the three image sensors respectively. A systemconfigured in accordance with this technique is illustrated in a selfexplanatory manner in FIG. 1C (image is taken from www.zeiss.de).

Yet an additional technique for acquisition of color images utilizes acolor sensor in which each pixel is adapted for measuring all three RGBcolors simultaneously, for example a Foveon® X3 sensor.

GENERAL DESCRIPTION

The present invention provides a novel technique for acquisition ofcolor images. According to the invention colored images are created bysequential acquisition and superposing of three or more narrow bandimages. For example, sequential acquisition and superposing of threeRed, Green and Blue images, or sequential acquisition and superposing offour Red, Green, Blue and Infra-Red (IR) images (typically the IR imagesare in the Near-IR (NIR) wavelength band being in the range of about700-1200 nm). Also, in some cases the technique of the present inventionis used to capture rich color images including color information on morethan three shades of colors in the visual spectrum (400-700 nm) andoptionally on one or more shades in the IR spectrum.

In this regard the following should be noted with regard to conventionaltechniques for capturing color images. The most common conventionaltechniques which utilize the spatial Color Filter Array (CFA), filterthe color of light reaching the pixels (i.e. such that some pixels inthe sensor sense the blue light, some the red and some the green). As aresult, the true spatial resolution obtained by such techniques is muchlower than the resolution of the sensor used (e.g. by a factor rangingbetween ½ and ¼), and typically spatial interpolation is utilized tocomplete/estimate the color information in the image. Also, as thespectral properties of the CFA are generally fixed, such techniques arelimited in the number of colors and the spectral content of lightmeasured by the pixels. In techniques utilizing the color sensors (i.e.where each pixel simultaneously measures the three RGB colors, such asthe Foveon X3), the number of colors and the spectral content is alsogenerally fixed. Also, in such color sensors, the size of the pixels issubstantially larger and noisier than those of standard Silicon-basedCMOS and/or CCD sensors, and accordingly yields images of inferiorresolution and SNR for the same sensor size.

The present invention provides a method and system capable of producinghigh quality colored images having a spatial resolution of each colormatching that of the image sensor used. In addition the presentinvention provides a method and a system for capturing rich-color imageswhich may have more than three color shades and/or may range over a widespectrum including the visual spectrum and the at least parts of the NIRspectrum. Further, the invention provides a technique for adaptive coloracquisition in which the time for acquiring each of the colors may beadaptively set in-situ based on the color content in the scenery beingimaged (e.g. by utilizing an preliminary/calibration stage in which thecolor intensity in the imaged scene is estimated and the integrationtimes for each color is accordingly set/selected (this stage may, forexample, be performed together/simultaneously during the cameraautofocus). To this end the integration time for imaging each color, aswell as the number and spectral profiles of the colors to be imaged, maybe adaptively determined based on the imaged scene so as to reduce thetotal exposure time while reducing the noise in the captured image (bymaking the most out of the given imaged spectrum as well as dynamicrange and sensitivity of the sensor), while optionally also capturingrich-colorful images with specifically selected color shades optimizedfor the scene.

This is achieved by utilizing a controllable spectral filter placed inan optical path of light propagation towards an appropriate (e.g.monochromatic) image sensor and controlling the spectral filter tosequentially pass light of three or more wide spectral bands whilemonochrome images/frames of these three or more spectral bands areacquired from the sensor. To this end, conventional CFA techniques,which provide relatively low spatial color resolution, are replaced bytemporal color sampling in the present invention. This, on the one hand,improves spatial resolution of the final color image, and on the otherhand allows adaptive color imaging with flexibility in the selection ofacquired colors and/or acquisition/integration times per color.

For example in some cases several frames of arbitrary colors (e.g.non-standard colors) may be captured and processed utilizing colorinterpolation to produce a colored image with the standard colorpalette. In low light sceneries, a set of frames of colors in thevisible range, such as RGB, may be captured plus one or more frames inthe NIR spectrum. The frames in the visible and NIR may then beprocessed to produce enhanced image of the low-light scene. Also, incase some of the captured frames of the visible and/or NIR colorspresent too low intensities, additional frames of similar or same colorsmay be captured (to compensate for the low intensities of the firstframes. For example, when during processing of a Red and Green frames itis determined that the intensity of these frames is below a certainthreshold, frames of similar colors may be recaptured possibly withlonger integration times.

Particularly, as further described in more detail below, the presentinvention provides a novel adaptive color imaging method for selectingdifferent integration times for each color and/or for selection of theparticular colors to be acquired and possibly for capturing multiple(two or more) images of similar colors to attain more information aboutcolors associated with low intensities. Accordingly, the technique ofthe present invention enables to obtain better quality images, for agiven sensor, while improving the image resolution and the ratio ofsignal to noise in the images.

In this connection it should be noted that the termmonochrome/monochromatic images are used herein to designate gray scaleimage/data (e.g. bitmap) in which each pixel of the monochrome imagecorresponds to/has a gray scale value, designating the intensity of thecolor/spectral-profile associated with the monochrome image. The termcolor should be understood as relating to a certain spectral profilewithin the visual and possibly also the NIR spectral bands. To this end,a colored image/frame is to be understood as an image in which eachpixel represents the intensities of several (typically three or more)colors.

The technique of the invention is suitable for use in compact imagersystems. This is facilitated by novel design of a controllable spectralfilter of an etalon type which is configured with a sufficiently thinform factor and which can be fitted in the optical system/path of evencompact camera modules. To this end, it should be understood that thespectral filter of the invention is on the one hand designed with a thinform factor (whose thickness in some embodiments does not exceed 1 mm)while on the other hand its optical properties, and particularly itsFree Spectral Range (FSR) and Finesse, are optimized for imagingapplications. Specifically, the controllable spectral filter isconfigured to provide sufficiently wide free spectral range (FSR) (e.g.of at least 300 nm or more) to allow good spectral separation betweencolors (namely such that for example when sampling the red color, lightcomponents in the blue spectral regime are not passed through the filterand do not interfere with measurement of the red light components).

In particular, in some embodiments, the tunable etalon is configured fortunability over a relatively wide spectral range, for example rangingfrom the blue, in the short visual wavelengths (e.g. about 400 nm), andup to long wavelengths in the NIR (e.g. up to about 1100 or 1200 nm).Yet, even in cases where the etalon is configured for selectivefiltering of light in a wide band extending over the visual and NIRspectrum, the etalon is also configured with sufficient FSR of at least300 nm such that when tuned to passing the light in the NIR, light inthe green and blue spectral regimes is substantially blocked/attenuated.

Furthermore, in order to enable generation of accurate color images, theetalon is configured with low finesse (namely sufficiently wide spectraltransmission peak of having full-width half maximum of about 50-80 nm)such that when tuned to a certain color (wavelength) not onlymonochromatic light of that color is passed to the sensor, but a varietyof shades of that color are also passed to the sensor. This, on the onehand provides for creating images with accurate (e.g. faithful) colors,and on the other hand allows sufficient light to pass to the sensor.

In this regard, it should be noted that conventional etalons, which aretypically used for optical communication purposes, are generally notsuitable for the purposes of the present invention. This is at leastbecause they are generally configured for passing substantiallymonochromatic light of a predetermined wavelength (i.e. configured withhigh finesse), which would result in insufficient light intensityreaching the sensor and in non-accurate colors if used for imagingproposes.

Thus, according to a broad aspect of the present invention there isprovided an imaging system for acquisition of color images. The imagingsystem includes: an image sensor (e.g. monochromatic image sensor); atunable spectral filter arranged in an optical path of light propagationtowards the image sensor; and a controller connected to the image sensorand to the tunable spectral filter. The controller (e.g. control system)is adapted for generating a colored image by sequentially operating thetunable spectral filter for sequentially filtering light passing towardsthe image sensor with three or more different spectral filtering curvesduring three or more corresponding integration time durations. Accordingto certain embodiments of the invention the tunable spectral filter isconfigured as an etalon comprising a pair of reflective surfaces, andwherein at least one of the reflective surfaces comprises at least oneof the following: (i) a layer of high refractive index of at leastn=2.3, or (ii) a layer of low refractive index, smaller than n=1;thereby providing wide transmission peaks of the spectral curves withfull-width-half maximum (FWHM) in the range of about 50 to 80 nm, freespectral range of at least 300 nm and thickness of the etalon notexceeding 1 mm.

In some embodiments of the present invention the controller isconfigured and operable for operating the sensor during the three ormore integration time durations for acquiring three or more images ofthe light of the three or more spectral filtering curves respectively.Also the controller is configured and operable for receiving andprocessing readout data indicative of the three or more images from thesensor and generating data indicative of a colored image includinginformation on intensities of at least three colors in each pixel of thecolored image.

In some embodiments of the present invention the durations of theintegration times are defined per each spectral filtering curve (i.e.per each color). Alternatively or additionally, the controller may beconfigured and operable for adaptively determining at least one of thefollowing: the three or more different spectral filtering curves, andthe durations of the integration times, based on the scene to be imaged.To this end, in some embodiments of the present invention the controlleris operable for carrying out a calibration stage prior to the generationof the colored image. The calibration stage includes:

-   -   tuning the spectral filter to at least one spectral filtering        curve of the three or more different spectral filtering curves,    -   obtaining and processing readout data from the sensor        corresponding to the light filtered by the at least one spectral        filtering curve, and estimating the intensity of light with the        spectral filtering curve in the scene;    -   utilizing the intensity to determine an optimized integration        time duration of capturing an image of light filtered by the        spectral filtering curve.

In certain embodiments, the controller is configured and operable forestimating brightness of at least one image of the three or more imagesof the three or more spectral filtering curves, and upon determining thebrightness is below a certain threshold, operating the tunable spectralfilter and the imager for capturing another image of a similar or samespectral filtering curve.

In some embodiments of the present invention the processing of thereadout data of the three or more images from the sensor to generate thecolored image includes applying image fusion processing to the three ormore images. The image fusion algorithms include at least one of thefollowing:

-   -   processing the three or more images to determine spatial        registration between the images;    -   normalizing the respective intensities of the three or more        images based on at least one of the following: the integration        time durations of the respective images, the spectral        filtering-curves corresponding to the images, and a sensitivity        of the sensor for wavelengths corresponding to the spectral        filtering-curves; and    -   merging the data from the three or more images to generate data        indicative of the colored image.

In some embodiments the merging includes color interpolation forconverting between the spectral filtering-curves associated with thethree or more images and a certain color palette associated with thecolored image.

In some embodiments of the present invention, the three or moredifferent spectral filtering curves include three RGB spectral filteringcurves in the visual spectral regime.

Alternatively or additionally, in some embodiments of the presentinvention the three or more spectral filtering curves include at leastthree spectral filtering curves corresponding to at least three specificcolors in the visual spectral regime and at least one additionalspectral filtering curve adapted for transmitting relatively high lightintensity through the filter as compared to a light intensitytransmitted through the filter when tuned to the at least three spectralfiltering curves.

In certain embodiments/implementations of the present invention, the atleast one additional spectral filtering curve includes at least one ofthe following:

(i) a white spectral curve enabling (used-for) obtaining high intensityimages in bight imaging conditions (e.g. day light imaging); and(ii) a NIR spectral curve used for obtaining high intensity images indark (e.g. night) imaging conditions.

These may be used in various imaging scenes to capture high intensityimages.

To this end, in certain embodiments the system is configured andoperable for generating the colored image by carrying out the following:

-   -   operating the tunable spectral filter for filtering light        passing towards the image sensor with the at least one        additional spectral filtering curve, and operating the sensor        for a predetermined integration time to obtain a certain image        of relatively high light intensity on the sensor; and    -   operating the tunable spectral filter for filtering light        passing towards the image sensor by the at least three spectral        filtering curves corresponding to the at least three colors, to        obtain from the sensor at least three images corresponding to        the at least three colors; As noise content in the certain image        of the relatively high intensity is lower than a noise content        of the at least three images, the system is therefore further        configured and operable for carrying out de-noising processing        to reduce the noise content of the at least three images based        on the certain image having a lower noise content. The        de-noising processing may be a multi-frame de-noising, such as        bi-lateral filtering.

According to some embodiments of the present invention at least onereflective surfaces of the etalon is mounted on actuators providing forcontrolling the optical distance between the reflective surfaces. Theone or more actuators may include piezoelectric actuators and/or MEMSactuator, such as electrostatic MEMS actuator. Alternatively oradditionally the etalon may include electro-optical media placed in thespace between the reflective surfaces. The electro optical media isconfigured and operable for providing control over the optical distancebetween the reflective surfaces. According to some embodiments of thepresent invention the coating layer of high reflective index isconfigured/has refractive index n>3 (e.g. using Poly-Silicon, GaAsand/or other coating material). This provides for improving a matchbetween the spectral transmission curves provided by the etalon andconventional RGB colors.

According to some embodiments of the present invention the reflectivesurfaces include anti-reflective coating specifically selected tooptimize a matching between the spectral filtering curves of the etalonand the spectral curves of conventional RGB colors while improving thetransmission of wavelengths of the spectral curves through the etalon.

According to some embodiments of the present invention the systemincludes a telecentric optical module located in the optical path oflight propagating towards the tunable spectral filter. The telecentricoptical module/lens is configured and operable for reducing at least oneof the following: (i) spatial variation in of chief ray angles of lightbeams that incident on the tunable spectral filter; and (2) an angularsubtense of the light beams; thereby improving spatial uniformity of thespectral filtration operation of the tunable spectral filter.

According to yet another broad aspect of the present invention there isprovided an imaging system for acquisition of color images. The systemincludes: an image sensor; a tunable spectral filter arranged in anoptical path of light propagation towards the image sensor; and acontrol system connected to the image sensor and to the tunable spectralfilter. The control system is adapted for generating a colored image by:(i) sequentially operating the tunable spectral filter for sequentiallyfiltering light passing towards the image sensor, with three or moredifferent spectral filtering curves during three or more correspondingintegration time durations; (ii) grabbing three or more imagescorresponding to the three or more different spectral filtering curvesfrom the image sensor; and (iii) processing the images to produce thecolored image. According to this embodiments of the invention the threeor more spectral filtering curves include at least three spectralfiltering curves corresponding to at least three specific colors in thevisual spectral regime, and at least one additional spectral filteringcurve selected for transmitting relatively high light intensity throughthe tunable spectral filter as compared to a light intensity transmittedthrough the filter when tuned to the at least three spectral filteringcurves. The additional spectral filtering curve provides at least oneimage of the three or more images with improved dynamic range andreduced noise content. Accordingly the control system is adapted forutilizing the at least one image for implementing multi frame processing(e.g. Bilateral filtering process) with the three or more images, for atleast one of the following: (i) reducing noise content from the coloredimage; and (ii) improving a dynamic range of the colored image.

In some embodiments of the present invention, the at least oneadditional spectral filtering curve include at least one of thefollowing: (i) a white spectral curve used for obtaining high intensityimages within the visible spectrum; and (ii) a NIR spectral curve usedfor obtaining high intensity images in certain imaging conditions. Alsoin some embodiments the at least three specific colors includes thethree RGB colors.

According to yet another broad aspect of the present invention there isprovided method for color image acquisition. The method includessequentially operating a tunable spectral filter arranged in an opticalpath of light propagation towards an image sensor, for sequentiallyfiltering light passing towards the image sensor with three or moredifferent spectral filtering curves corresponding to three or morecolors. The sequential filtering is performed for over three or morerespective integration time durations. According to this embodiment ofthe invention the method further includes utilizing a tunable spectralfilter that is configured as an etalon having a pair of reflectivesurfaces, and wherein at least one of the reflective surfaces comprisesat least one of the following: (i) a layer of high reflective index ofat least n=2.3, and (ii) a layer of refractive index smaller than 1;thereby providing wide transmission peaks of the spectral curves withFWHM in the range of about 50 to 80 nm.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to better understand the subject matter that is disclosedherein and to exemplify how it may be carried out in practice,embodiments will now be described, by way of non-limiting example only,with reference to the accompanying drawings, in which:

FIGS. 1A to 1C are illustrations of conventional color imaging systemswherein FIGS. 1A and 1B show an imaging system utilizing Color FilterArray and a corresponding image acquisition pipeline. FIG. 1Cillustrates schematically a color imager utilizing the color separationby spectral beam splitting;

FIGS. 2A and 2B are block diagrams illustrating schematically a systemand a method of color image acquisition according to an embodiment ofthe present invention;

FIG. 2C illustrates more specifically a method for adaptive coloracquisition according to an embodiment of the present invention;

FIG. 2D shows in a self explanatory manner an image acquisition method(pipeline) according to an embodiment of the invention for acquiring aplurality of monochrome RGB images and generating therefrom a coloredimage;

FIG. 3A illustrates an embodiment of a tunable spectral filter of anetalon type which is configured according to the present invention foracquiring images in the visual and possibly NIR spectral bands bysequential color acquisition;

FIG. 3B shows graphs of R-G-B and IR spectral transmission profiles(filtering curves) of an etalon configured according to an embodiment ofthe present invention;

FIG. 3C illustrates the refractive index profile of a poly-siliconmaterial which is used in the etalon mirrors according to someembodiments of the present invention to obtain a tunable etalon having asufficiently thin form factor and which is tunable to match the standardRGB color profiles with sufficiently wide FSR;

FIG. 3D shows spectral profiles of RGB colors according to theInternational Commission on Illumination (CIE) color space (also knownas the CIE 1931 color space standard;

FIGS. 4A and 4B illustrate two mechanical configurations for the tunablespectral filter according to two embodiments of the present inventionutilizing piezoelectric actuation for adjusting the spacing between theetalon mirrors; and

FIGS. 5A and 5B respectively show graphically the NIR and white spectraltransmission curves obtained by an etalon configured with poly-siliconcoating.

DETAILED DESCRIPTION OF EMBODIMENTS

Reference is made to FIG. 2A illustrating schematically a system 100 forcolor imaging configured according to an embodiment of the presentinvention. The system 100 includes a sensor 130 and a tunable spectralfilter 120 placed in the general optical path of light propagationtowards the sensor (e.g. intersecting the Z axis in the figure), and acontrol system (controller) electrically connected to the image sensorand to the tunable spectral filter and configured and operable forcapturing a colored image by sequential acquisition of monochromaticframes corresponding to different colors (different spectral profiles)from the sensor. In FIG. 2A also illustrated schematically is an opticalsystem 140 (e.g. lens(es)) arranged in the optical path of the sensor.It should be noted that the optical system 140 is optional and does notform an integral part of the system 100 of the present invention.

According to the present invention the controller 110 is adapted forcreating/capturing a colored image by sequentially operating saidtunable spectral filter 120 for sequentially filtering light incidentthereon with three or more different spectral filtering curves/profilesand operating the sensor 130 for acquiring three or more images(monochromatic images/frames) of the light filtered by the three or morespectral curves respectively. The tunable spectral filter 120 isoperated to maintain each of the spectral filtering curves forcorresponding time slot durations, during which the sensor 130 isoperated for capturing the respective monochrome images with respectiveintegration times fitting in these time slots. Accordingly each of thecaptured monochrome images corresponds to light filtered by a differentrespective spectral filtering curve and captured by the sensor 130 overa predetermined integration time.

The controller is configured for receiving and processing readout dataindicative of the three or more monochrome images from the sensor andgenerating data indicative of a colored image (namely an image includinginformation on the intensities of at least three colors in each pixel ofthe image).

The system 100 of the present invention utilizes an image sensor 130sensitive in the entire wavelength band of light to be detected (e.g.visual range or NIR-visual range) allowing the sensor to sequentiallysample several colors in the desired wavelength band. Each color istypically sampled in a fraction of the standard/conventional integrationtime for capturing a colored image. For example, if the normal/typicalintegration time ranges between 1 milliseconds to 30 seconds, in thetechnique of the present invention, each color is captured within only afraction of that integration time.

Accordingly, the tunable spectral filter 120 is configured to providesufficiently fast tunability (namely transition time betweencolors/spectral-filtering-curves) in the order of a few milliseconds orless, and preferably not exceeding one millisecond. This is achievedaccording to some embodiments of the present invention by utilizing aspecific configuration of an etalon based spectral filter whilemechanically coupling one or both mirrors of the etalon with materials,which are configured to function as piezoelectric actuators providingagile and accurate control over the spacing between the mirrors. In thisregards, it should be understood that in various embodiments of thepresent invention other types of mechanisms enabling accurate and fastcontrol over the optical distance/separation between the mirrors mayalso be used. These may be mechanical mechanisms controlling thegeometrical distance between the mirrors (such as MEMS actuators),and/or optical or electro-optical mechanisms which can provide controlover the optical length between the mirrors of the etalon (with/orwithout changing the actual relative geometrical displacement betweenthe mirrors). For example, the etalon may be configured to enablecontrol over the optical path length between the mirrors by any of thefollowing techniques: (i) Mounting one or both of the etalon mirrors onactuators such as mechanical or capacitive or electrostatic orelectromagnetic Micro-Electro-Mechanical (MEMs) based actuators, or byapplying different external conditions, such as voltage, on susceptiblematerials such as piezoelectric crystals; (ii) Alternatively oradditionally, in some embodiments of the present invention the spacingbetween the etalon mirrors is accommodated with optical media whichrefraction index can be controlled (e.g. electrically controlled) byapplying different external conditions such as voltage thereto. Forexample, electro-optical crystals and/or liquid crystal materials can beused to control and adjust the optical length between the mirrors of theetalon. It should be understood that a control over the optical distancebetween the etalon mirrors and hence over the spectral filtrationfunction of the etalon may be achieved according to the presentinvention by any combination of the techniques (i) and (ii).

To this end, the controller may be connectable to the etalon (e.g. tothe mechanical/Piezoelectric actuators of the etalon and/or theelectro-optical media between the etalon mirrors) for controlling thespectral filtration transmission/filtration profile of the etalon. Thecontroller may also be connected and to the sensor, and is configured tosequentially tune the etalon to each of the desired colors and tosequentially grab/readout and store image data corresponding to thesecolors. The controller is generally associated with a memory 114 (datastorage) and processor 112. The processor is operative to execute a setof instructions 116.1 (e.g. hard/soft coded instructions) forcoordinating the operations of the etalon and sensor and for storing inthe memory 114 the image data 118 (e.g. readout from the sensor).

It should be noted that in some embodiments of the present invention theoptical system 140 is configured to direct light to propagate throughthe tunable spectral filter with relatively similar Chief Ray Angles(CRA) across the filter plane (namely with low variability of the CRAs),and with low variability of the marginal-to-marginal angle range ofdifferent light beams across the filter plane. In this regards it shouldbe understood that the term chief ray angle, corresponds to the nominalangle by which a light beam intersects an optical plane, such as theimage optical plane, being the sensor's plane, and/or the optical planeat which the tunable spectral filter 120 resides. The phrasemarginal-to-marginal angle range relates to the angular span of thelight beam about its respective chief ray angle.

Alternatively, in case the CRA>10 degrees, color/spectral correctionalgorithms may be applied and replace supportive optical designs. Also,optical design and such algorithms may be combined to improve thecolor/spectral correction results.

Thus the optical system, which is characterized by low CRA variabilityand low variability of the angular difference of every two marginal raysrange of light beams passing through the filter, is designed andconfigured to direct all/most of the light rays to incident on thetunable spectral filter with substantially similar angles if incidencesα and with small differences Δα between the angles of incidence ofdifferent rays. Accordingly, when utilizing such an optical system 140,the filter provides a similar filtration effect to the light rayspassing therethrough within the similar angles (i.e. similar profile ofspectral filtration is obtained for light beams passing at variouslocations through the filter (through the center and the marginsthereof).

It should be noted that in certain configurations of the system 100, thetunable spectral filter 120 is placed in front and adjacent to the planeof the sensor 130. Accordingly the optical system 140 is configured forreducing the variance in the angles of the light beams crossing thetunable spectral filter and impinging across the sensor surface. This isachieved by reducing the variance in the chief ray angles of the lightbeams impinging on different pixels of the sensor and also possiblyreducing the variance in the marginal to marginal angle range of eachlight beam. Typically (e.g. in conventional optical designs), due tosymmetry considerations, the chief ray angles of light beams impingingthe center of the sensor is 0°, where in conventional optical designschief ray angles of light beams impinging near the edges of the sensormay be relatively large (e.g. about 32° or more). However, according tothe present invention, since an etalon based tunable spectral filter 120is used and the spectral filtering profile of the filter 120 depends onthe angle of the light beam (and inter-alia on the chief ray anglethereof). Therefore, it is desired to reduce the variance of the chiefray angles of the light beams which are imaged on the sensor 130, so asto improve the spatial uniformity of the color filtration profile acrossdifferent pixels/locations on the sensor. To achieve that, in certainembodiments of the present invention the optical system 140 includeswith telecentric optics (e.g. telecentric lens module) that is adaptedfor reducing the variance of the chief ray angles of the light beamsdirected to the sensor while keeping the upper-lower angular differencewithin a certain range. The telecentric optics is configured to reducethe chief ray angles at the edge of the sensor to below 32°, so as toimprove the spatial uniformity of the color filtration by the tunablespectral filter 120. Also the telecentric optical system 140 may beconfigured to reduce the difference between 2 marginal rays (which isthe angle span of the light rays in the light beams impinging respectivepixels in the sensor 130). As a result the ray cones approaching thetunable spectral filter surface have substantially the same angle ofincidence and angular subtense everywhere one the plane spectral filter.For example in certain embodiments the optical system is desired suchthat the variance in the marginal to marginal angle range for lightbeams impinging different pixels in the sensor is preferably less than8°, so as to improve the uniformity of the spectral filtrations ofdifferent light rays impinging the sensor.

It should be understood, a person of ordinary skill in the art ofoptical design will readily appreciate how to design and configure anoptical system, based on the above description so as to reduce thevariation of chief ray angles and/or reduce the variations in thedifference between 2 marginal rays impinging the sensor, and therebyimprove the uniformity of the spectral filtration across the sensor.

FIG. 2B is a flow chart illustrating in more detail method 200 performedaccording to some embodiments of the present invention for capturing andcreating colored images by sequential capturing of monochrome imagescorresponding to different spectral profiles/colors. Method 200 iscarried out by the controller 110 for operating the system 100 forcapturing the plurality of monochrome images and generating the coloredimage therefrom.

In optional operation 210, the controller allocates predeterminedintegration times (time slots) for capturing each color by the sensor.In this regard, it should be noted that in some embodiments thepredetermined integration times are predefined in advance (e.g.hardcoded) per color (operation 210.1). However, in some embodiments ofthe present invention an adaptive color acquisition method is appliedaccording to which the integration time per color isadaptively/dynamically allocated, for example in-situ, based on theimaged scene (operation 210.2). In the latter case (210.2), thecontroller may be adapted to perform a preliminary calibration step fordetermining an optimal integration time for each color and possibly alsodetermine the number and/or the central wavelengths of the colors to begrabbed. The method of adaptive color acquisition is described in moredetail with reference to FIG. 2C.

In operation 220 the controller operates the tunable spectral filter andthe sensor to sequentially acquire monochromatic image data per eachdesired color. The desired colors and the integration times forcapturing images of each color are obtained in step 210 above. To thisend, operations 220.1 to 220.4 are performed for each of the desiredcolors (spectral profiles). In 220.1 data indicative of a particularcolor/spectral profile to be acquired and respective integration timeare obtained. In this regard the spectral profile may be represented invarious ways, for example by any suitable color code and/or simply bydata indicative of the optical distance between the etalon mirrors oramplitude of the electric signal to be provided to themechanical/piezoelectric actuators and/or electro-optical media of theetalon for achieving this optical distance. In 220.2 the controlleroperates the tunable spectral filter to the desired color/spectralprofile (e.g. by properly adjusting the spacing between the etalonmirrors). In 220.3, the controller maintains the spectral profile forsufficient time slot duration and operates the sensor to capture amonochrome image of the color image during respective integration timeof the color. Finally, in 220.4 the controller obtains and storesreadout (raw) data indicative of the monochromatic image from thesensor. As indicated in 220.5, the operations 220.1 to 220.4 arerepeated for each of the colors until monochrome images of all thedesired colors are grabbed.

Operation 230 is typically performed after grabbing and storing raw dataof at least some of the monochromatic images corresponding to severalcolors. The controller processes the raw data, by utilizing one or moreimage fusion processes for merging the images to generate one coloredimage.

It should be noted that in some embodiments, the monochrome images ofthe different colors are inspected prior to their merging to a singlecolored image, in order to verify/check their properties/quality. Incase monochrome image of insufficient quality is identified, anothermonochrome image of the same or similar color/spectral profile may berecaptured (e.g. by properly operating the tunable spectral filter andthe sensor). For example, in some cases the brightness/light-intensitycaptured in the monochrome images is estimated/determined and imagesassociated upon determining/identifying a monochrome image whichbrightness is to low (e.g. below a certain threshold), capturingadditional image(s) of the same/similar color/spectra, possibly usinglonger integration time, so as to obtain a better qualityimage/information on that color. Then, at least one of the originalimage and/or the additional image(s) which were captured with thesame/similar color profiles may be used/merged with other monochromeimages to produce the colored image.

The image fusing algorithms may optionally include image registrationprocessing (operation 230.1) adapted to compensate over shifts betweenmonochromatic images of different colors (such shifts may occur becausethe images of different colors are generally captured at slightlydifferent times during which slight camera movements may occur). Theregistration algorithm may provide for reducing smearing (that appearsin all single shot acquisitions).

In this connection it should be noted that conventional imagingtechniques, such as those relying on the Bayer CFA and Bayer'sde-mosaicing schemes compensate for image smearing by applyingstabilizing mechanisms to take into account the camera movements.However, image smearing due to movements of objects in the scenerycannot be handled by such schemes, thus still creating smeared images.To this end, advantageously the present invention provides forcompensating for both such movements of the camera and of the scenery.This is achieved by utilizing the registration processing forregistration between the monochrome images. As each of the monochromeimages is captured in only a fraction of the total exposure time, theeffect of movement smearing in these images (due to both camera andscenery motion) is substantially reduced. Thus, the registrationprocessing of 230.1 (performed for example by conventional imageregistration techniques) to compensate over the relative dispositionsbetween the temporally acquired monochrome images which are used tocompose the colored image, provides substantial reduction of the imagesmearing (each monochrome frame is taken in shorter time than the totaltypical color image exposure time).

Also, the image fusing algorithms may optionally include colorcalibration processing (operation 230.2) for calibrating/normalizing theintensities in the grabbed monochromatic images. This is achieved byprocessing the raw data of the monochrome images of the different colorsto normalize their intensities, for example by taking into account theintegration times allocated to each color, the transmission/loss of thespectral filter when tuned to different colors (possibly also thespectral profile/filtering-curve of transmission of the etalon) and thesensitivity of the sensor for each color. To this end for each color aparticular intensity normalization factor may be determined andmultiplied by the respective monochrome image.

In some embodiments of the present invention optional operation 230.3 iscarried out to reduce noise (such as shot noise) from the images. Insome cases inter-frame noise reduction techniques are executed in one ormore of the monochrome frames that are used for constructing the coloredimage as to reduce the noise in the frame. Inter-frame noise reductiontechniques, such as non-local means noise reduction, are performed. Suchtechniques utilize on the information of the image frame itself forreducing the noise from the frame.

Alternatively or additionally, in some embodiments of the presentinvention the fact that multiple monochrome frames of different spectralprofiles are grabbed for each colored image to be produced, isadvantageously exploited for the purpose of noise reduction/filtration.To this end, in 230.3 multi-frame noise reduction process may be appliedto the monochromatic frames (e.g. to at least two of them) from whichthe colored image is to be constructed. For example multi-framede-noising process based on the Bilateral filtering de-noising techniquemay is executed in certain embodiments of the present invention forreducing shot noise from the plurality of monochrome frames.

In this connection, it should be noted that in certain embodiments ofthe present invention the plurality of monochrome frames, which are usedfor constructing a colored image, may include at least one monochromeframe which was grabbed with relatively long integration time and whichtherefore has relatively low noise content, and one or more monochromeframes, which were grabbed with relatively short integration time, andtherefore have relatively high noise contents. For example, in someembodiments of the present invention, four monochrome frames aregrabbed: one with the spectral filter tuned to white (i.e. tuned toprovides substantially flat transmission—e.g. more than 60% transmissionover at least 90% visible spectral range), is grabbed with longintegration time (thus having low noise content); and three R, G, & Bframes are grabbed with relatively shorter integration time, thus withrelatively higher noise contents (possibly also NIR frame is grabbed,that may replace the white frame). Then, in 230.3, a de-noising processbased on the Bilateral filtering technique (other multi-frame de-noisingtechniques may be also applicable) is executed to reduce the noise inthe R, G, & B frames and possibly also in the NIR frame by exploitingthe low noise content of the white frame which was grabbed with longerintegration time.

Thus generally, according to certain embodiments of the presentinvention, the monochrome frames that are used for constructing thecolored image include at least one frame, which is associated withimproved exposure to the scene illumination as compared to other of themonochrome frames (a frame that is exposed to the scene for longerintegration time duration and/or exposed to higher light intensity fromthe scene—for example when less light is filtered—as in white frames).According to the invention, in such embodiments Bilateral filteringprocess may be executed to utilize the information in the frame with theimproved exposure to the scenes illumination to apply de-noising to theframes which were less exposed to the scene's illumination, and by thatreduce the noise content from the final color image produced by thosemonochrome frames. A person of ordinary skill in the art of noisefiltering and signal processing will readily appreciate how to applymulti-frame de-noising techniques, such as bilateral de-noising, toreduce the noise from a plurality of frames corresponding to a similarscene.

In 230.4 image fusion algorithms are performed to merge themonochromatic images (possibly after being properly normalized andregistered) in accordance with their respective colors/spectralprofiles, and generate the colored image data. In this regard, in somecases this final step of merging is straightforward. Particularly, insome embodiments of the present invention, as illustrated in FIG. 3A anddescribed in more detail below, the etalon is advantageously anduniquely configured to be tunable to colors/spectral profiles matchingthe standard colors/spectral-profiles of the conventional color filterarrays such as Bayer's CFA. In such cases generating a colorimage/bit-map may be achieved by constructing the RGB data of each pixelin the bit-map from the monochrome images.

However, generally, in some cases, merging may not be so straightforwardand may optionally require color correction and/or interpolation. Colorcorrection processing applied by the technique of the present inventionmay generally include two types of color correction processes:

(1) Inter-frame color correction may be performed for re-calibratingcolor intensities, where:

R _(calibrated) =a ₁ *R+a ₂ *G+a ₃ *B

G _(calibrated) =b ₁ *R+b ₂ *G+b ₃ *B

B _(calibrated) =c ₁ *R+c ₂ *G+c ₃ *B

(2) per pixel color correction (e.g. intra-frame color correction),where intensity calibration is performed per pixel, at a given frame, tocompensated for spatial variations in the transmission of the spectralfilter.

These two techniques of color corrections may be applied per pixel (eachpixel color may be transformed slightly differently). To this end theinter-frame color correction is used for converting between the specificcolors/spectral profiles/wavelength of the monochromatic images (namelythe spectral profiles of transmission to which the etalon was tuned whengrabbing the monochromatic images) and the color palette of the coloredimage to be generated. For example, four monochromatic images may begrabbed with the etalon respectively tuned to Cyan, Magenta and Yellow(CMY), while the pallet of the colored image to be generated may be theRGB pallet. To this end, in some embodiments of the present invention,color interpolation/processing may be used to determine the intensitiesof the color image pixels (e.g. RGB pixels) by interpolating thecorresponding pixels of the monochrome images based on the respectivespectral profiles of the etalon by which those images were captured.

In this regard, in some embodiments of the present invention, the systemmay be configured for grabbing more than three colors, for examplegrabbing monochromatic images corresponding to NIR, R, G, B and thecolored image is to be represented by RGB or CMYK. In some cases themonochrome images may correspond to various arbitrary is (e.g.predetermined) colors/spectral profiles—relating for example tonon-standard pallets. To this end, color interpolation may be used toconvert from a plurality of monochrome images of selected spectralprofiles of the etalon, to a colored image of a standard color palette.

Specifically, in embodiments where monochrome image(s) in the NIRspectrum are also grabbed in addition to monochrome images in the visualspectrum, the NIR images may be used to enhance the final colored imageproduced specifically in dark/night scenes. For example, colorinterpolation processing may utilize information from the NIR toemphasize objects appearing in the visual spectrum to thereby createmore vital images of dark/low light sceneries.

In some embodiments of the present invention the system may beconfigured for grabbing “monochromatic” images corresponding to three ormore color profiles/combinations, from which color image informationcorresponding to the three RGB colors and possibly also NIR image datamay be determined. To this end it should be understood that theterms/phrases monochromatic and monochromatic/grayscale image should beunderstood in its broad sense as relating to image data corresponding tocertain specific spectral filtration profile, and wherein three or moresuch monochrome images are grabbed and used according to the presentinvention to obtain colored image information. In this regards it shouldbe noted that the three or more spectral filtration profiles of thethree or more respective monochromatic images may include spectralprofiles corresponding to any three or more different combinations ofthe {Red (R), Green (G), Blue (B), White (W), and Near-Infra-Red (NIR)}colors. Some non limiting examples of possible filtering curvecombinations that can be used for grabbing the three or more monochromeframes, by which the color image can be constructed, include:

i. {Red, Green, Blue} frames and an optional NIR frame.

ii. {White+Red, White+Green, White+Blue} frames plus an optional NIRframe.

iii. {White-Red, White-Green, White-Blue} frames plus an optional NIRframe;

iv. {NIR+Red, NIR+Green, NIR+Blue} frames plus an optional NIR frame.

The etalon/tunable spectral filter may be configured according to theinvention so as to be tunable to the desired combination of spectralfiltering curves (e.g. any of the combinations i. to iv. or othercombination of spectral filtering curves such as CMY, RGB & White, andothers). To this end, the configuration of the etalon to the desiredcombination of filtering curves may be achieved by proper selection of(i) the optical spacing between the mirrors of the etalon; and/or (ii)the refractive index parameter of the media between the mirrors; and/or(iii) the inner coating material of the etalon's mirrors.

It should be understood that tuning the tunable spectral filter to aWhite (W) spectral filtration profile (namely to a state in which itdoes not substantially filter any of the visible colors) can be achievedby setting the optical distance between the etalon mirrors to be muchshorter than any visible wavelengths. For example the etalon may beadjusted such that the optical distance between its mirrors does notexceed about 100 nm or even below (e.g. does not exceed 60 nm). Thisprovides that light rays in the visible wavelength regime (e.g. about400 to 700 nm) do not substantially interfere within the etalon and thusa white spectral filtration profile is obtained.

Thus, both color corrections may be applied in 230.4. This inter framecolor correction (color interpolation) is required in cases where thetunable spectral filter/etalon provides non-standard spectraltransmission profiles (namely which do not correspond to standard colorpallet used/required for the colored image that is to be produced).Intra-frame color correction is required, when the spectral filteringisn't uniform across the filter due to variations in CRA and marginalrays).

To this end, spectral uniformity across the sensor, is obtained eitherby corrective optical design (e.g. utilizing telecentric optics),followed by “weak” spectral correction algorithms, or by “hard” spectralcorrection algorithms. As indicated above, this use of corrective lenswhich has telecentric properties limits variation of the CRA (chief rayangle) as well as the angular difference between each two marginal rays,across the sensor. Remaining non-uniformities, or if corrective opticsis not used, all spatial non uniformities in the spectral filtration,may be corrected by color correction algorithms. Such algorithms, termedabove. intra-frame color correction, may be performed, per each color,based on data indicative of the spatial non-uniformity of the spectraltransmission through the etalon, for light of that color arriving toeach pixel on the sensor.

For example considering the case where the tunable spectral filter istunable to the pallet such as ii above, e.g. wherein the pixelintensities of the monochrome frames are as follows:

1^(st) monochrome frame corresponds to: 50% White+50% Red;

2^(nd) monochrome frame corresponds to: 50% White+50% Green;

3^(rd) monochrome frame corresponds to: 50% White+50% Blue.

The RGB frames may be estimated based on a weighted sum of these threeframes. As indicated above, in some cases inter-frame color correctionis also performed to compensate over defects/production tolerances ofthe tunable spectral filter. Inter-frame color correction is performedaccording to the invention when an interference spectral filter such asEtalon is used. In such cases the spectral transmission profile of eachcolor may is not spatially uniform across the etalon due to two reasons:(1) different CRA angles and angular difference of marginal rays; (2)Production/manufacturing tolerances. Manufacturing variations are causedby the etalon mirrors being not parallel with respect to one another,and/or when one, or both, of the mirrors is not exactly planar).Accordingly non-uniform color may be captured by the image sensor whengrabbing the monochrome frames.

Therefore according to the present invention both inter-frame andintra-frame color corrections may be applied to correct the colors dueto inherent structure and inaccuracies in the etalon. The inter-framecolor correction may be applied optically by utilizing specific opticaldesign, and/or by applying a color correction/gauge matrix per pixel ofthe image to calibrate the colors of the pixels. Also other imageprocessing approaches may be applied. For example by comparing the colorcontent in similar patches and zones within different locations theimage, and adjusting the colors in one zone using the colors in anotherzone (e.g. serving as a reference zone).

As also indicated above, in embodiments of the present inventionadditional non RGB frames such as NIR frames/white frames, are grabbedand are used to enhance the properties of the colored image. Suchadditional frames, which may be associated with any non-standard RGBcolor spectrum, may be used according to the invention to improve theproperties of the final colored image, for example improving the dynamicrange by using NIR frames for improved low light/night photography,reducing noises by utilizing white frames captured with high exposure;and/or providing better color fidelity by using multiple exposure ofnon-RGB frames to allow color correction optimization over additionalcolors and/or improving the resolution for example by utilizing superresolution techniques to obtain and sharper images (e.g. digital superresolution utilizing sub-pixel techniques).

Reference is made to FIG. 2C showing a flow chart of a method 300 usedfor adaptive color imaging according to some embodiments of the presentinvention (e.g. in step 210 of method 200 above). As noted above, in thetemporal color sampling technique of the present invention each color issampled in a fraction of the total image acquisition time period. Thedivision of the total image acquisition time into a specific integrationtime for each color (monochrome image) may be set by two alternatives:(I) a pre-determined scheme (e.g., ⅓ of the total acquisition timeperiod per color), and (II) an adaptive/dynamic scheme, which depend onthe imaged scene. Computer simulations show that in 7 of 21 colorimages, non-symmetrical division scheme outperformed the symmetricalscheme in terms of the mean square error (MSE) of color intensityvalues.

The present invention provides a novel method/algorithm for determiningthe ratio of integration time periods for each of the monochrome imagesbased on the scene and the lighting to provide optimal integration timeperiods. In some embodiments of the present invention the method 300 isexecuted in a preliminary color calibration stage (which may take placefor example simultaneously during the camera auto-focuses and/or duringother procedures prior to the actual exposure time). Accordingly as theimage of the scene may not be focused at this stage on the sensor, thecolor intensities I_(c) may be calculated for example from the averageintensities of the respective image pixels.

To this end, in some embodiments of the present invention method 300 isused in step 210 above to determine an optimized integration time foreach color (possibly also determine additional color components thatshould be measured and thereby providing for carrying out adaptive colorimaging of the scene. The method 300 includes operation 320 in which thecontroller 110 operates the tunable spectral filter and the sensor tosequentially measure the intensities I_(c) of several/predeterminedcolors in the scene (where c is used herein to denote color index). Inthis regard in operation 320.1 a particular color/spectral-profile c ofseveral colors, whose intensities should be measured, is provided. In320.2 the controller 110 tunes the tunable spectral filter 120 to thatparticular color c and in 320.3 the sensor 130 captures the image ofthat color. In 320.4 the controller grabs readout/image data of thatcolor c from the sensor 130 and then processes this image data todetermine the intensity I_(c) of the color c. As indicated in 320.5, theoperations 320.1-320.4 are repeated for each one ofseveral/predetermined colors {c} whose intensities are to be measured.For example in some cases colors/spectral ranges corresponding to theRed Green and Blue are measured (namely: cε{R, G, B}) (for examplemeasuring the color intensities, I_(red), I_(green) and I_(blue)).

In 330 the controller 110 determines/computes the total intensityI_(total); e.g. as I_(total)=Σ I_(c) (e.g.I_(total)=I_(red)+I_(green)+I_(blue), and/or the ratios X_(c) betweenthe intensities I_(c) of the different colors (indexed c) and the totalintensity I_(total). For example, the ratios X_(red)=I_(red)/I_(total),X_(green)=I_(green)/I_(total), and X_(blue)=I_(blue)/I_(total) aredetermined/computed.

In 340 the controller 110 determines/computes the integration times percolor (e.g. per color c) based on the ratios X_(c) and/or based on theintensities I_(c). In some embodiments the controller 110 utilizespredetermined thresholds (e.g. a set of predetermined intensitythresholds TH_(c) per color (e.g. {TH_(red), TH_(green), TH_(blue)} andprocesses the ratios Xc, and/or the intensities Ic based on thosethresholds to determine the optimal sensor integration time to be usedfor each color (e.g. by comparing the color intensity ratios {X_(red),X_(green), X_(blue)} with pre-determined respective thresholds{TH_(red), TH_(green), TH_(blue)}.

In some embodiments a computerized state machine is used to determinethe proper integration times per color. Specifically, the state machinemay be configured and operable in any one of the following modes: (i)Full adaptivity mode (340.4 in the figure) and (ii) Partially adaptivemode (e.g. pre-configured mode) (340.2 in the figure). In some cases thestate machine is configured for providing full color adaptivity bycomputing the integration time for each color c based on the colorintensity I_(c) and/or ratio X_(c) (in general for higherintensities/ratios, shorter integration times are provided). In othercases, the state machine may be used to select the integration time frompre-defined sets/lookup table of possible integration times (e.g. basedon predetermined threshold data which may for example may includethreshold conditions (e.g. per color) associating the determinedintensities/ratios I_(c)/X_(c) with required integration times.

Moreover, in some cases the controller may be configured and operable todetermine, based on the measured intensities/ratiosI_(total)/I_(c)/X_(c) that additional colors (monochromaticframes/images) should be captured and used to compose the colored image.For example, upon identifying that the total intensity I_(total) is toolow (e.g. below a predetermined threshold) the controller 110 maydetermine that an additional frame in the NIR should also be captured toenhance low light imagery. Also upon identifying certain lightconditions (e.g. if one or more color intensities I_(c) are small than apre-determined threshold—other implementations might exist) additionalframes in the controller 110 may determine that additional monochromeframes of various colors in the visual band (e.g. R, G, B frames) shouldbe captured and used to compose the colored image.

Thus, the suggested image acquisition pipeline described with referenceto methods 200 and 300 of the present invention, offers severaladvantages for color imaging, such as full resolution, true colorcomponent measurements and flexibility in the time per color integrationtime. Moreover, these methods allow several frames per color and sharperimage per frame due to shorter integration time. Also there are severalmajor advantages compared to the conventional Bayer-Demosaicing (BD)pipeline.

FIG. 2D is a schematic illustration showing in self explanatory mannerthe acquisition pipeline according to some embodiments of method 200 ofthe present invention in which the etalon is specifically configured (asdescribed below with reference to FIG. 3A) for providing spectraltransmission curves fitting the conventional RGB spectral curves. Hereinstead of the conventional Bayer's filter and de-mosaicing (shown inFIGS. 1A and 1B), the etalon is sequentially tuned for capturing threemonochrome Red Green and Blue images which are captured by the sensorand merged together to form the color image. To this end, for the sameexposure time, the technique of the present invention provides sharperand higher quality images in terms of the MSE of the color intensitiesin the final colored image. Specifically a sharper image may be obtainedbecause the resolutions of the monochrome images match the actual trueresolution of the sensor (namely because images are captured without theCFA and de-mosaicing of the CFA is thus obviated), and also as a resultof the short integration time pre color and spatial registration betweenthe monochrome images. The monochrome images may generally be obtainedwith exposure times in the order of about It depends on other elements,external to this invention, such as shutters, actuators stabilizationtime etc. Our invention doesn't limit (minimum or maximum) the exposuretime, which is generally shorter-than-the conventional integration time(e.g. 10%-50% of conventional integration time). Thus the final image issharper due to the shorter integration times of the monochrome images(which are thus less affected by scene and camera movements). Therefore,higher quality images are obtained with improved resolution and reducedtotal MSE). Also as the invention allows to change the ratio of lightacquisition in the red, green and blue (which ratio is constant in BDscheme and typically set to 1:2:1 for “red”, “green” & “blue” (RGB)respectively), it provides for better image quality in terms of MSE ofcolors intensities by selecting the most suitable exposure scheme.

As noted above, according to various embodiments of the presentinvention, color filtering is carried out by a tunable etalon (such as aFabry-Perot (FP)). FIG. 3A is a schematic illustration of a tunableetalon 400 configured according to an embodiment of present invention toprovide spectral transmission curves that best fit those of the colorfilters used in conventional CFAs. In addition the tunable etalon 400 issufficiently thin to fit in the optical path of a camera.

The tunable etalon filter 400 of this embodiment is configured as anair-spaced etalon with two reflective surfaces of two mirrors M1 and M2.The mirrors M1 and M2 are spaced apart by a distance (etalon-spacing) dwhich is smaller than the visual wavelengths (e.g. d<˜400 nm) thusachieving a sufficiently wide free spectral range (FSR) of at leastFSR>300 nm. The mirrors, or at least one of them, are mounted/coupled toa suitable mechanical actuator (e.g. piezoelectric material, notspecifically shown in this figure) such that the spacing between themirrors M1 and M2 can be adjusted.

In this connection, it should be noted that the spacing between themirrors is gaseous (e.g. air, and including vacuum for that matter), toprovide a refractive indices difference that is large enough between theinner coating material (e.g. poly-silicon, or other high refractiveindex inner coating) and the media itself (e.g. air). Moreover, sincethere is no resistance to actuation of the mirrors, it allows theactuators to accurately and rapidly change the mirrors' positions. Thisprovides that for imaging purposes, the etalon 400 can be tuned withsufficient accuracy and speed with transition time between colors (e.g.about 1 millisecond or less).

The internal sides of the mirrors M1 and M2 are coated with a high-indexcoating (material(s)) IC having a high refractive index n of at leastn>2.3 and more preferably coating material(s) IC having a refractiveindex n>3.0. Alternatively, or additionally, in some cases the internalcoating IC used has refractive index smaller than 1; n<1; thesematerials may include metals and other materials. It should be notedthat according to the present invention the use of coating material(s)with high refractive index provides for relatively wide spectraltransmission peak of the etalon (e.g. matching the spectral peak widthsof the conventional CFA spectra), while the etalon is sufficiently thin(about 1 mm or less) to fit along the optical axis of a camera (evencompact cameras), and while also allowing to utilize gaseous/air spacingbetween the mirrors to enable fast and accurate tenability, as notedabove. In this regard it should be noted that since the gaseous/airmedium in the spacing has a generally low refractive index, a largerefractive index difference is created, which results in wide spectraltransmission peak. Accordingly, although in certain embodiments of thepresent invention coating materials with refractive index n of about 2.3or above are used, in certain embodiments it is more preferable to usecoating materials with higher refractive index, for example with n beingequal to about or above 3, and in some cases, using poly-silicon/or GaAswhich have high refractive index of higher than 3.0 for the entirevisible spectral range. The higher refractive index may be used toimprove the fit between the conventional CFA spectra and the spectralprofiles of the etalon of the invention.

For example, in the present example the glass mirrors M1 and M2 are usedmade of BK7 glass and coated with an inner coating material/layer formedwith poly-silicon material. The glass thickness is about 200 nm, theinternal coating IC thickness is about 20 nm, to reduce/minimize mediumabsorption loss, and the spacing/distance d between the mirrors variesin the range between 200 nm to 350 nm to provide tunability in thevisual spectral regime (e.g. for tuning to the three RGB colors) and/orabout 20 nm to 100 nm spacing for NIR. To this end, the thin and fasttunable etalon is provided with full-width-half maximum (FWHM) of itspectral peak being in the order of about 50-80 nm similar to that ofconventional CFA spectra.

In this regard, according to the invention, the combination of etalonparameters relating to the use of internal coating IC with refractiveindex n>3.8 and the smaller-than-visual-wavelength etalon spacing d<400nm mimics the transmission curves of common CFA transmission spectra andits wide peaks (see for example FIG. 3F). This means that the colorfilters, realized by the etalon, are the closest to the de-facto colorspectra standard.

FIG. 3B illustrates the resulting spectral transmission curves(complementary to the spectral filtering curves) of the etalon 120 ofthe embodiment of FIG. 3A, when respectively tuned for four centralwavelengths centered to match the IR and R-G-B spectrum.

In this regards, it is noted that the graphs of FIG. 3B were obtainedwithout the anti-reflective coating AR1 of the etalon 120 (which performan IR cutoff filtration) but including only anti-reflective coating AR2on mirror M2. To this end, the graphs in FIG. 3B includes spectraltransmission curve also in the NIR IR.

Two, solid and dashed transmission graphs, are illustrated for each ofthe IR and R-G-B wavelengths wherein the solid graph corresponds totransmission of light incident on the etalon with an angle of incidence(AOI) of within the range within ±20° from the normal, and the dashedgraph corresponds to transmission of light incident on the etalon withan AOI within ±30° from the normal. Although only one AR coating is used(AR2) in this example, still the etalon provides good transmissionefficiency (low losses) in the order of 80% transmission for AOI up to20° and in the order of 60% transmission for AOI up to 30°. In someembodiments of the present invention AR coating AR1 is also used (withor without the IR cutoff filter) in order to further improve theetalon's efficiency. The particular AR coating AR2 used of the presentexample is described in more details below.

Graphs B1 and B2 correspond to spacing of 235 nm between the etalonmirrors, which resulted with spectral transmission peak in the bluewavelength regime (e.g. near a wavelength of 450 nm). Graphs G1 and G2correspond to the spacing of 275 nm between the etalon mirrors whichresulted with spectral transmission peak in the green wavelength regime(e.g. close to a wavelength of 530 nm). In graphs R1 and R2 the spacingbetween the etalon mirrors was set to 325 nm resulting in spectraltransmission peak in the red wavelength regime (e.g. close to awavelength of 600 nm). In graphs IR1 and IR2 the spacing between theetalon mirrors was set to 60 nm resulting in spectral transmission peakin the NIR infrared wavelength regime (e.g. near about wavelength of 950nm). The calculation of the transmission spectra of the etalon is basedon the dispersion of the refraction index of the Poly-silicon materialwhich is illustrated in a self-explanatory manner in the graph of FIG.3C.

The spectral filtering results exhibit a good fit to the CIE 1931transmission spectra. To this end, FIG. 3D illustrates three graphs gR,gG, and gB showing the CIE's standard R-G-B colors respectively. As seenfrom FIG. 3B, the graphs R1, G1, and B1 as well as the graphs R2, G2,and B2 show that the etalon 120 R-G-B colors transmission spectra whichfits that of the standard colors CIE 1931 shown in FIG. 3D, withrelatively high efficiency for AOIs of up to 30°. As also shown in thesegraphs sufficient FSR is obtained providing good color separation(namely side lobes of the spectra remain mainly out of the wavelengthband to be detected, in this case visual and NIR band). Additionally,sufficiently wide FWHM of the peaks is obtained to mimic the wide peaksof the standard RGB spectra and the overlap between them (namely peaksexhibiting wide enough spectral variations).

It should be understood that the transmission curves of the etalon mayfurther be modified (e.g. to fit specific requirements/preferences ofcamera designers). For example the etalon properties may be modified bychanging the internal coating material IC (e.g. the Poly-siliconmaterial) or its thickness to affect the width of the spectral peak ofthe etalon (hence, affecting the etalon's finesse). Also, the BK7 glassmay be replaced by another glass, and the central wavelength to whichthe etalon is tuned may be moved by modifying the spacing between theetalon's mirrors (changing the air spacing).

According to some embodiments of the present invention the mirrors M1and M2, or at least one of them, are also coated with specificallyselected anti-reflective (AR) coatings. For example, in the etalon 120of FIG. 3A AR coatings AR1 and AR2 are used. The purpose of the externalcoatings AR1 and AR2 is to reduce light reflection due to refractionindex difference and improve etalon transmission efficiency. Thus thecoatings are selected to minimize losses and possibly also for replacingthe conventional IR-cut filter used in conventional image sensors of thevisual regime. In the present example the BK7 glass mirrors M1 and M2are each coated with AR coating from the outside and, from the inside,with a thin high-refraction-index coating layer IC of poly-siliconmaterial having refractive index of about n=3.8.

It should be noted that the total thickness of the etalon of the presentinvention is in the order of about ˜400 μm. Accordingly, in some casesthe etalon might not be integrated between the micro-lens and the sensor(e.g. in replacement of the CFA of the sensor (whose thickness isconventionally much lower ˜1 μm). However in such cases the filtershould be placed outside the micro-lens array of the sensor, for exampleit may replace the IR-cut filter of the sensor.

To this end, according to some embodiments of the present invention theetalon is also configured for low pass filtering of light with anIR-cutoff filter (with ˜700 nm cut-off). This may be achieved byutilizing specific AR coating on the etalon with IR cutoff properties.

For example, the left-hand side glass coating AR1 may implementanti-reflection (air to BK7 interface) and band-pass filter at 400nm-700 nm (operating as IR cut-off filter), while the AR2 coating mayonly apply anti-reflection properties of BK7 to air interface in therange of 400 nm-700 nm.

In the present example the following AR coatings are used (these aredescribed in more detail in the titled Optical System Design book byFischer, R. E.; Tadic-Galeb, B.; Yoder, P. R. (2008)):

For AR1 coating:

-   -   Air|1.07 L|(2H2 L)8|2.6H|2.64 L|2.8H|2.46 L|2.14H|2.2 L|(2.6H2.6        L)3|2.6H|2.74 L|(2.9H2.9 L)5|2.74H|3.08 L|0.4H|BK7    -   Where:    -   L=75.8800 nm, H=92.6753 nm n_(L)=1.463, n_(H)=2.239

The total coating width is 6.1 μm.

For AR2 coating:

-   -   |BK7|M|2H|L|Air    -   Where:    -   L=92.1243 nm, M=78.2689 nm, H=59.9718 nm    -   n_(L)=1.384, n_(M)=1.629, n_(H)=2.126

The total coating width is 0.3 μm.

There are several possible configurations for mounting the etalonmirrors on mechanical actuators for providing accurate and fast tuningof the etalon. For example FIGS. 4A and 4B are two schematic selfexplanatory illustrations of two possible mechanical configurations ofthe etalon 120 illustrated in FIG. 3A in which accurate control of thedistance d between the etalon mirrors is achieved by mounting one of themirrors on piezoelectric actuators. The actuators include properlyselected piezoelectric crystals with predetermined dimensions configuredfor providing the desired movement range for controlling spacing betweenthe mirrors. The piezoelectric crystals are coupled to electrodesthrough which the controller (110 in FIG. 1A) controls the distance d.FIG. 4A shows a configuration in which the etalon's mirror that islocated proximate to the sensor is mechanically coupled to thepiezoelectric actuators. The second mirror of the etalon is fixedlymounted (this mount is not specifically illustrated in the figure). InFIG. 4B shows a configuration in which the etalon's mirror locatedproximate to the sensor is fixedly mounted by a mechanical mount and themirror that is more distant from the sensor, is mechanically coupled tothe piezoelectric actuators.

As indicated above, certain desirable optical properties of making theetalon configuration of the present invention specifically suitable forimaging applications are achieved by utilizing high-refractive indexinner coatings on the internal sides of the mirrors of the etalon. E.g.,coatings having refractive index of at least n>2.3 and more preferablyn>3.0. To this end the inventors of the present invention have simulatedthe spectral transmission of several coating materials having highrefractive indices including for example: Poly-Silicon, Titanium Oxide(TiO2), Gallium Phosphide (GaP), GaAs, Barium Titanium Oxide (BaTiO2),Bismuth Titanium Oxide (Bi4Ti3O12), which of a given wavelengths of 520nm are respectively associated with the following refractive indices:4.2, 2.6, 3.5, 4.2, 2.5, 2.7, respectively. The following table showsthe distance between the etalon mirrors which provide filtration curvesestimating the RGB colors, when the mirrors are coated with each of theabove listed coatings

RED GREEN BLUE Poly Silicon 340 nm 285 nm 245 nm TiO2 355 nm 310 nm 270nm GaP 355 nm 295 nm 255 nm BaTiO2 355 nm 310 nm 270 nm Bi4Ti3O12 360 nm310 nm 370 nm

FIGS. 5A and 5B are self explanatory graphical illustrations of IR andwhite transmission spectra's respectively, which are obtained by anetalon configured according to an embodiment of the present invention,with Poly-Silicon coating on the mirrors of the etalon. As shown in FIG.5A, NIR transmission spectrum is obtained when the spacing between theetalon mirrors ranges between 100 to 140 nm. A white transmissionspectrum, shown in FIG. 5B is obtained when the etalon mirrors arespaced by 10 to 60 nm. Thus, according to the present invention theetalon may be used to obtain several frames providing color information(e.g. two or more frames corresponding to the RGB colors) as well asadditional frames corresponding to the IR and/or white spectral curves.The later may be obtained with relatively high intensity thus providingfor reducing the noise from the final image and/or improving its imagequality and/or dynamic range. It should be understood that similar Whiteand NIR transmission spectra may also be obtained with the othercoatings discussed above.

Thus various embodiments of the present invention provide a novelimaging system and method (pipeline) for colored imaging by sequentialacquisition of monochrome images with respectively predetermined(predefined/adaptive) integration times and fusion of such images toform a high quality colored image. Also various embodiments of thepresent invention provide a novel tunable etalon spectral filterparticularly suited for capturing colored images in the visual and/orvisual-NIR spectra. The etalon spectral filter provides sufficientlywide full-width half maximum of the transmission peak (e.g. FWHM about50-80 nm) and broad enough free spectral ranges (FSR>300 nm) so as toproduce accurate colored images. Additionally, the etalon may beconfigured with a small thickness form factor (e.g. in the order ofabout 1 mm or even less) which can be fitted in the optical axis ofcompact/miniature imagers while also providing fast and accuratespectral tuning.

1. An imaging system for acquisition of color images comprising: animage sensor; a tunable spectral filter arranged in an optical path oflight propagation towards said image sensor; and a controller connectedto said image sensor and to said tunable spectral filter, and adaptedfor generating a colored image by sequentially operating said tunablespectral filter for sequentially filtering light passing towards theimage sensor with three or more different spectral filtering curvesduring three or more corresponding integration time durations; whereinsaid tunable spectral filter is an etalon configured such thattransmission peaks of said spectral curves have full-width-half maximum(FWHM) in the range of about 50 to 80 nm and free spectral range of atleast 300 nm, said etalon comprising a pair of reflective surfaces, atleast one of the reflective surfaces comprising at least one of thefollowing: (i) a layer of high refractive index of at least n=2.3, or(ii) a layer of low refractive index, smaller than n=1, therebyproviding that a thickness of said etalon does not exceeding 1 mm. 2.The system of claim 1 wherein said controller is configured and operablefor operating said sensor during said three or more integration timedurations for acquiring three or more images of the light of said threeor more spectral filtering curves respectively; and receiving andprocessing readout data indicative of said three or more images from thesensor and generating data indicative of a colored image includinginformation on intensities of at least three colors in each pixel of thecolored image.
 3. (canceled)
 4. The system of claim 1, wherein thecontroller is operable for adaptively determining at least one of thefollowing: said three or more different spectral filtering curves, andthe durations of said integration times, based on the scene to beimaged.
 5. The system of claim 4 wherein the controller is operable forcarrying out a calibration stage prior to said generation of the coloredimage; said calibration stage comprising: tuning said spectral filter toat least one spectral filtering curve of said three or more differentspectral filtering curves, obtaining and processing readout data fromthe sensor corresponding to said light filtered by said at least onespectral filtering curve, and estimating the intensity of light withsaid spectral filtering curve in the scene; utilizing said intensity todetermine an optimized integration time duration of capturing an imageof light filtered by said spectral filtering curve.
 6. The system ofclaim 1, wherein the controller is operable for estimating brightness ofat least one image of said three or more images of said three or morespectral filtering curves, and upon determining said brightness is belowa certain threshold, operating said tunable spectral filter and saidimager for capturing another image of a similar or same spectralfiltering curve.
 7. The system of claim 1, wherein said processing ofthe readout data indicative of said three or more images from the sensorcomprises applying image fusion processing to said readout data togenerate said colored image; said image fusion algorithms include atleast one of the following: processing said three or more images todetermine spatial registration between the images; normalizing therespective intensities of the three or more images based on at least oneof the following: said integration time durations of the respectiveimages, said spectral filtering-curves corresponding to said images, anda sensitivity of the sensor for wavelengths corresponding to saidspectral filtering-curves; and merging said data from said three or moreimages to generate data indicative of said colored image. 8-9.(canceled)
 10. The system of claim 1, wherein said controller is adaptedfor operating said tunable spectral filter such that said three or morespectral filtering curves include at least three spectral filteringcurves corresponding to at least three specific colors in the visualspectral regime and at least one additional spectral filtering curveadapted for transmitting relatively high light intensity through saidfilter as compared to a light intensity transmitted through said filterwhen tuned to said at least three spectral filtering curves. 11-16.(canceled)
 17. The system of claim 1, wherein said three or moredifferent spectral filtering curves include three RGB spectral filteringcurves in the visual spectral regime, and wherein said layer of highreflective index having refractive index n>3, thereby improving a matchbetween the spectral transmission curves provided by said etalon andconventional RGB colors.
 18. (canceled)
 19. The system of claim 1,comprising a telecentric optical module located in said optical path oflight propagating towards said tunable spectral filter; said telecentriclens is configured and operable for reducing at least one of thefollowing: spatial variation in of chief ray angles of light beams thatincident on said tunable spectral filter, and an angular subtense ofsaid light beams; thereby improving spatial uniformity of the spectralfiltration operation of said tunable spectral filter.
 20. An imagingsystem for acquisition of color images comprising: an image sensor; atunable spectral filter arranged in an optical path of light propagationtowards said image sensor; and a control system connected to said imagesensor and to said tunable spectral filter; said control system isadapted for generating a colored image by sequentially operating saidtunable spectral filter for sequentially filtering light passing towardsthe image sensor with three or more different spectral filtering curvesduring three or more corresponding integration time durations, grabbingthree or more images corresponding to said three or more differentspectral filtering curves from the image sensor and processing saidimages to produce said colored image; wherein said three or morespectral filtering curves include at least three spectral filteringcurves corresponding to at least three specific colors in the visualspectral regime and at least one additional spectral filtering curveselected for transmitting relatively high light intensity through thetunable spectral filter as compared to a light intensity transmittedthrough said filter when tuned to said at least three spectral filteringcurves; said additional spectral filtering curve provides at least oneimage of said three or more images with improved dynamic range andreduced noise content; and wherein the control system is adapted forutilizing said at least one image for implementing Bilateral filteringprocessing of said three or more images for at least one of thefollowing: (i) reducing noise content from said colored image; and (ii)improving a dynamic range of said colored image.
 21. The system of claim20, wherein said at least three specific colors includes the three RGBcolors; and wherein said at least one additional spectral filteringcurve include at least one of the following: (i) a white spectral curveused for obtaining high intensity images within the visible spectrum;and (ii) a NIR spectral curve used for obtaining high intensity imagesin certain imaging conditions.
 22. (canceled)
 23. A method for colorimage acquisition comprising: sequentially operating the tunablespectral filter arranged in an optical path of light propagation towardsan image sensor for sequentially filtering light passing towards saidimage sensor with three or more different spectral filtering curvescorresponding to three or more colors during three or more respectiveintegration time durations; wherein the method comprising utilizingtunable spectral filter configured to provide said spectral filteringcurves with wide transmission peaks having full-width-half maximum(FWHM) in the range of about 50 to 80 nm, and free spectral range of atleast 300 nm; and wherein said tunable spectral filter has an etalonconfiguration and includes a pair of reflective surfaces wherein atleast one of the reflective surfaces comprises at least one of thefollowing: (i) a layer of high reflective index of at least n=2.3, and(ii) a layer of refractive index smaller than 1; thereby providing widetransmission peaks of said spectral curves with FWHM in the range ofabout 50 to 80 nm.
 24. The method of claim 23, further comprisingoperating said sensor during said three or more integration timedurations defined per each of said three or more spectral filteringcurves, for respectively acquiring three or more images of the light ofsaid three or more colors; and receiving and processing readout dataindicative of said three or more images from the sensor and generatingdata indicative of a colored image including information on intensitiesof at least three colors in each pixel of the image.
 25. (canceled) 26.The method of claim 23, comprising performing a calibration stage priorto an actual imaging of a scene, said calibration stage comprisescapturing one or more images indicative of intensities of one or morecolors in said scene and processing said one or more images todetermine, based on said scene, one or more of the following: said threeor more colors to be imaged during said actual imaging of the scene, andsaid integration time durations.
 27. The method of claim 26 wherein saidcalibration stage comprises: sequentially tuning said spectral filter tospectral filtering curves corresponding to said one or more colors,processing readout data from the sensor to estimate intensities of thethree or more colors in the scene; and utilizing said estimatedintensities to determine integration times for imaging light arrivingfrom the scene in each of said three or more colors.
 28. (canceled) 29.The method of claim 23, comprising estimating brightness of at least oneimage associated with one of said three or more colors, and upondetermining said brightness is below a certain threshold, operating saidtunable spectral filter and said sensor for capturing another image of asimilar or same color.
 30. The method of claim 23, comprising applyingimage fusion processing to said three or more images and generating saidcolored image; said image fusion algorithms include at least one of thefollowing: determining spatial registration between the three or moreimages; normalizing the respective intensities of the three or moreimages based on at least one of the following: said integration times ofthe respective images, said spectral filtering-curves corresponding tosaid images respectively, and a sensitivity of the sensor forwavelengths corresponding to said spectral filtering-curves; and mergingsaid data from said three or more images to generate data indicative ofsaid colored image.
 31. The method of claim 30 wherein said mergingincludes color interpolation for converting between the spectralfiltering-curves associated with said three or more images and a certaincolor palette of the colored image.
 32. (canceled)
 33. The method ofclaim 23, wherein said acquiring three or more images comprisingacquiring at least three images with said tunable spectral filter tunedto at least three spectral filter curves corresponding to at least threespecific colors in the visual spectral regime, and at least oneadditional image with said tunable spectral filter tuned to sat leastone additional spectral filter curve transmitting high light intensityrelative to said at least three spectral filtering curves; saidadditional image is thereby provided with improved dynamic range andreduced noise content; and wherein the method further comprisesutilizing said at least one additional image for carrying out amulti-frame filtering process to: (i) reducing a noise content from saidcolored image and/or (ii) improving a dynamic range of said coloredimage.
 34. The method of claim 33 wherein said at least one additionalspectral filtering curve include at least one of the following: (i) awhite spectral curve used for obtaining high intensity images; and (ii)a NIR spectral curve used for obtaining high intensity images in darkimaging conditions.
 35. (canceled)
 36. The method according to claim 23,comprising utilizing at least a telecentric optical module placed alongan optical path of light towards said tunable spectral filter, therebyimproving the spatial uniformity of spectral transmission through saidfilter.
 37. (canceled)